///<ummary>Starts the search for the shortest path at the position "start"</summary>
public bool FindPath(out PointI[] path, PointI start)
{
Stopwatch stp = new Stopwatch();
if (printDebug)
{
stp.Start();
}
List <PointI> p = new List <PointI>();
bool result = step(p, start);
if (result)
{
path = p.ToArray();
}
else
{
path = new PointI[0];
}
if (printDebug)
{
stp.Stop();
GD.Print("Found path in ", stp.ElapsedMilliseconds, "ms");
}
return(result);
}
public override bool Equals(object obj)
{
if (!(obj is PointI))
{
return(false);
}
PointI point = (PointI)obj;
return(point.X == this.X && point.Y == this.Y);
}
void loop()
{
try
{
PointI[] tmp = new PointI[endPoints.Length];
endPoints.CopyTo(tmp, 0);
this.pathFinder.Reset(gridCopy);
foreach (PointI end in tmp)
{
this.pathFinder.CalcHops(end);
}
Pathversion++;
}
catch (System.Threading.ThreadAbortException) { }
}
///<summary>Makes one step of the Path</summary>
bool step(List <PointI> path, PointI point)
{
// Check if point is outside Grid
if (point.X < 0 || point.X >= w ||
point.Y < 0 || point.Y >= h)
{
return(false);
}
// If point is at an endpoint, return true
if (this.hops[point.X, point.Y] == 0)
{
path.Add(point);
return(true);
}
// Search for the Direction with the smallest amount of hops
float min_hops = this.hops[point.X, point.Y];
int min_pos = -1;
for (int i = 0; i < directionsDiag.Length; i++)
{
// Add each direction to the current position
PointI next = point + directionsDiag[i];
// Check if new position is outside the Grid
if (next.X < 0 || next.X >= w || next.Y < 0 || next.Y >= h)
{
continue;
}
if (this.hops[next.X, next.Y] < min_hops
// Check if path would strip a corner
&& this.hops[next.X, point.Y] < maxHops + 1 &&
this.hops[point.X, next.Y] < maxHops + 1)
{
min_hops = this.hops[next.X, next.Y];
min_pos = i;
}
}
// If there is no smaller path, there is no possible path.false
if (min_pos < 0)
{
return(false);
}
path.Add(point);
return(step(path, point + directionsDiag[min_pos]));
}
///<summary>Starts the calculation of the hopcount at the position "end"</summary>
public void CalcHops(PointI end)
{
Stopwatch stp = new Stopwatch();
if (printDebug)
{
stp.Start();
}
setHops(end.X, end.Y, 0);
if (printDebug)
{
stp.Stop();
GD.Print("Calculated hops in ", stp.ElapsedMilliseconds, "ms");
}
if (printField)
{
GD.Print("Field:");
for (int y = 0; y < h; y++)
{
StringBuilder line = new StringBuilder();
line.Append("|");
for (int x = 0; x < w; x++)
{
if (grid.FieldBlocked(x, y))
{
line.AppendFormat("###|");
}
else
{
line.AppendFormat("{0,3}|", this.hops[x, y]);
}
}
GD.Print(line.ToString());
}
}
}
public bool FindPath(out PointI[] path, PointI start)
{
return(pathFinder.FindPath(out path, start));
}